Abstract: [Problem] Learning of object operation skills robust against variation of conditions is implemented. [Solution] A behavior estimation apparatus 100 includes a collection unit 200 configured to collect skill data obtained when a slave robot is operated under a plurality of different conditions by using a bilateral system capable of operating the slave robot via a master robot through bidirectional control between the master robot and the slave robot. The behavior estimation apparatus 100 further includes a behavior estimation device 300 configured to estimate a command value for causing the slave robot 520 to automatically behave, based on the skill data collected by the collection unit 200 and a response output from the slave robot 520.

Abstract: A first estimation unit (331) estimates command information per first unit of time using a first trained model (321). A second estimation unit (332) estimates, using a second trained model (322), the command information per second unit of time shorter than the first unit of time, from information corresponding to the command information derived by the first trained model (321). An operation control unit (333) operates a control target device (10B) using the command information estimated by the second estimation unit (332).

Abstract: [Problem] Learning of object operation skills robust against variation of conditions is implemented. [Solution] A behavior estimation apparatus 100 includes a collection unit 200 configured to collect skill data obtained when a slave robot is operated under a plurality of different conditions by using a bilateral system capable of operating the slave robot via a master robot through bidirectional control between the master robot and the slave robot. The behavior estimation apparatus 100 further includes a behavior estimation device 300 configured to estimate a command value for causing the slave robot 520 to automatically behave, based on the skill data collected by the collection unit 200 and a response output from the slave robot 520.

Abstract: A position/force controller includes a function-dependent force/speed distribution conversion unit that, on the basis of speed, position and force information relating to a position based on an action of an actuator and control reference information, performs a conversion to distribute control energy to at least one of speed or position energy and force energy according to a function that is being realized. A control amount calculation unit calculates at least one of a speed or position control amount and a force energy on the basis of at least one of the speed or position energy and the force energy distributed by the force/speed distribution conversion unit. An integration unit integrates speed or position control amount with force control amount and, to return an output to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount and determines an input to the actuator.

Abstract: A position/force controller includes a function-dependent force/speed distribution conversion unit that, on the basis of speed, position and force information relating to a position based on an action of an actuator and control reference information, performs a conversion to distribute control energy to at least one of speed or position energy and force energy according to a function that is being realized. A control amount calculation unit calculates at least one of a speed or position control amount and a force energy on the basis of at least one of the speed or position energy and the force energy distributed by the force/speed distribution conversion unit. An integration unit integrates speed or position control amount with force control amount and, to return an output to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount and determines an input to the actuator.

Abstract: A position/force controller performs: detecting information relating to a position based on the effect of an actuator; converting by distributing control energy to speed or positional energy and force energy in response to functions realized on the basis of speed (position) and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control; calculating the control amount for speed or position on the basis of the speed or positional energy; calculating the force control amount on the basis of the force energy; and integrating the speed or position control amount and the force control amount and performing a reverse conversion on the speed or position control amount and the force control amount to return the output to the actuator, to determine the input to the actuator.

Abstract: Provided is a technique for more appropriately realizing human-like movement by a robot. This position/force controller performs: detecting information relating to a position based on the effect of an actuator; converting by distributing control energy to speed or positional energy and force energy in response to functions realized on the basis of speed (position) and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control; calculating the control amount for speed or position on the basis of the speed or positional energy; calculating the force control amount on the basis of the force energy; and integrating the speed or position control amount and the force control amount and performing a reverse conversion on the speed or position control amount and the force control amount to return the output to the actuator, to determine the input to the actuator.